WO2020038123A1 - 一种上肢神经康复训练器 - Google Patents

一种上肢神经康复训练器 Download PDF

Info

Publication number
WO2020038123A1
WO2020038123A1 PCT/CN2019/094216 CN2019094216W WO2020038123A1 WO 2020038123 A1 WO2020038123 A1 WO 2020038123A1 CN 2019094216 W CN2019094216 W CN 2019094216W WO 2020038123 A1 WO2020038123 A1 WO 2020038123A1
Authority
WO
WIPO (PCT)
Prior art keywords
connecting plate
plate
seat
hinge
joint
Prior art date
Application number
PCT/CN2019/094216
Other languages
English (en)
French (fr)
Inventor
吴海帆
田谨晓
刘骁
孙建
潘维浩
Original Assignee
大连理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 大连理工大学 filed Critical 大连理工大学
Priority to JP2020559501A priority Critical patent/JP2021512743A/ja
Publication of WO2020038123A1 publication Critical patent/WO2020038123A1/zh

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer

Definitions

  • the invention belongs to the field of machinery, and relates to a training device for rehabilitation treatment of upper limb motor dysfunction.
  • the purpose of the present invention is to design a class of patients with neurological damage and corresponding upper limb motor dysfunction due to stroke or brain trauma, which has a relatively simple structure, relatively inexpensive price, complete functions, and can effectively reduce the cost
  • Popularized upper limb nerve rehabilitation training device that reduces labor intensity and reduces its labor time, is suitable for home use, and supports a variety of body postures.
  • An upper limb nerve rehabilitation training device includes two parts: a manual adjustment part I and an electric execution part II, which can realize five training actions: linkage flexion and extension, swing arm, upper arm rotation, swing hand, forearm rotation; three types of rehabilitation Posture: sitting posture treatment, standing posture treatment, lying posture treatment.
  • the manual adjustment part I includes casters 1, a bottom plate 2, a hinge pin 3, a fixed rod 4, a handle 5, a first sliding rod 6-1, a second sliding rod 6-2, a control handle 7, a gas spring 8, a first A connecting plate 9-1, a second connecting plate 9-2, a hinge 32, and a screw 33.
  • the four casters 1 are fixedly connected to the four corners of the lower side of the bottom plate 2, and the bottom of the fixing rod 4 is fixedly connected to the upper side of the bottom plate 2 by four screws, which is a hollow structure.
  • the side of the fixing rod 4 is provided with three equidistant holes for placing the hinge pin 3, and the hinge pin 3 is selected to be placed in a certain hole according to the position requirements.
  • the first sliding rod 6-1 is embedded into the fixing rod 4 from above the fixing rod 4, the handle 5 is mounted on the first sliding rod 6-1, and the second sliding rod 6-2 is from above the first sliding rod 6-1.
  • the control handle 7 and the gas spring 8 are fixed to the upper part of the second sliding rod 6-2.
  • the first connecting plate 9-1 is fixedly connected to the upper part of the gas spring 8, and the two sides of the hinge 32 are fixedly connected to the first connecting plate 9-1 and the second connecting plate 9-2, respectively.
  • the electric execution part II includes the electric execution part II, which includes a third connection plate 9-3, a fourth connection plate 9-4, a fifth connection plate 9-5, a sixth connection plate 9-6, and a seventh Connecting plate 9-7, stepper motor 10, motor support 11, elastic coupling 12, support 13, hinge 14, electric push rod 15, outer tube 16, inner tube 17, motor 18, reducer 19 ⁇ Hand back plate 20, slider 21, joint elastic coupling 22, seat bearing 24, joint T-shaft 25, guide seat 26, strap 27, fixed seat 28, screw 29, slide seat 30, support seat 31. Hinges 32, screws 33.
  • the stepping motor 10 is mounted on a support 13 through a motor support 11. The bottom of the support 13 is connected to a fixed base 28.
  • the main shaft of the stepper motor 10 is connected to one end of an elastic coupling 12.
  • One end is connected to the screw rod 29, and two ends of the screw rod 29 are respectively fixed with a fixing base 28 and a supporting base 31, and the fixing base 28 and the supporting base 31 are fixed at both ends of the slide rail base 30.
  • the bottom surface of the joint T-shaft 25 is mounted on the second connecting plate 9-2, the joint T-shaft 25 is embedded in the seated bearing 24, and the seated bearing 24 is mounted on the third connecting plate 9-3.
  • the three connecting plates 9-3 are installed on the upper side of the slide base 30.
  • a nut 23 is mounted on the end of the joint T-shaped shaft 25, and the seat bearing 24 is locked by the nut 23.
  • the second connection plate 9-2 and the third connection plate 9-3 are indirectly connected to the seated bearing 24 through the joint T-shaft 25.
  • a set of inner square tubes 17 is embedded and installed in the outer square tube 16.
  • a hinge 14 is fixed on the third connecting plate 9-3 and is connected to the end of the outer square tube 16.
  • the other hinge 14 is fixed on the fourth connecting plate 9-4, and is connected to the end of the inner square tube 17.
  • another group of inner square pipes 17 is embedded and installed in the outer square pipe 16, and an end of the outer square pipe 16 is connected to the fourth connecting plate 9-4.
  • the end of the inner square tube 17 is mounted on the slider 21 through a hinge 14.
  • the slider 21 is connected to the lead screw 29 through an internal thread.
  • the inner square pipe 17 is provided with equidistant adjustment holes for adjusting the relative positions of the outer square pipe 16 and the inner square pipe 17.
  • a joint T-shaft 25 is mounted on one end of the third outer square pipe 16, and the joint T-shaft 25 is embedded in the seated bearing 24.
  • a nut 23 is mounted on the end of the joint T-shaped shaft 25, and the seat bearing 24 is locked by the nut 23.
  • the seat bearing 24 is mounted on the fourth connection plate 9-4, and the other end of the outer square pipe 16 is connected to the fifth connection plate 9-5.
  • a reducer 19 is installed on the fourth connecting plate 9-4, the motor 18 is installed on the reducer 19, and the output shaft of the reducer 19 and the joint T-shaft 25 are installed on both sides of the joint elastic coupling 22, respectively.
  • One end of the fifth connecting plate 9-5 is connected to the outer tube 16, and the other end is equipped with a reducer 19, the motor 18 is installed on the reducer 19, and the joint elastic coupling 22 is provided with a reducer 19 output shaft on each side With joint T-axis 25.
  • the joint T-shaft 25 is installed at one end of the sixth connecting plate 9-6, and the joint T-shaft 25 is embedded inside the seated bearing 24.
  • a nut 23 is mounted on the end of the joint T-shaped shaft 25, and the seat bearing 24 is locked by the nut 23.
  • This seated bearing 24 is mounted on the fifth connecting plate 9-5.
  • a reducer 19 is mounted on the outside of the other end of the sixth connecting plate 9-6.
  • the motor 18 is mounted on the reducer 19.
  • the guide seat 26 is installed at the end of the output shaft of the reducer 19.
  • the output shaft of the reducer 19 is connected to the hand back plate 20 through the guide seat 26. connection.
  • the strap 27 is fixed to the back panel 20.
  • the present invention has a simple structure, a relatively low price, and relatively complete functions, can effectively reduce the labor intensity and labor time of medical staff, is suitable for family use, and supports multiple body posture changes.
  • Figure 1 is a schematic diagram of an upper limb nerve rehabilitation training device
  • FIG. 2 is a schematic structural diagram of a manual adjustment part
  • Figure 3 is a schematic structural diagram of an electric execution part
  • FIG. 5 is a schematic diagram of a hand driving structure
  • FIG. 6 is a schematic diagram of a slide rail structure
  • FIG. 7 is a schematic diagram of an attitude conversion structure
  • the device can realize three kinds of rehabilitation postures: sitting posture treatment, standing posture treatment, and lying posture treatment.
  • the common state of the device is the sitting position.
  • the screw 33 fixes the side of the first connection plate and the second connection plate at this time, and the screw 33 is tightened. This is the sitting position.
  • the fixed rod 4 is provided with three equidistant holes, and the hinge pin 3 is installed to different positions of the hole to adjust the height of the first sliding rod 6-1 in a wide range.
  • the height of the second sliding rod 6-2 is adjusted by the handle 5, and the height of the actuator is further adjusted by a small range through the gas spring 8 and the control handle 7. There are three adjustments to suit different individuals' standing posture treatment.
  • the device can realize five training actions: linkage flexion and extension, swing arm, upper arm rotation, swinging hand, forearm rotation.
  • the upper outer tube 16 is bound to the upper arm through a strap
  • the lower outer tube 16 is bound to the lower arm
  • the backboard 20 is bound to the hand to achieve the following five training actions, specifically:
  • Linked flexion and extension The stepper motor 10 drives the slider 21 to move up and down through the screw rod 28, further driving the overall device to perform linked flexion and extension.
  • Swing arm Through the telescopic movement of the electric push rod 15 to drive the whole device to swing back and forth, to achieve swing arm training.
  • the motor 18 drives the hand back plate 20 to rotate through the reducer 19 to realize the wave motion.
  • the motor 18 drives the joint T-shaft 25 to reduce the relative rotation of the outer tube 16 relative to the sixth connecting plate 9-6 through the reducer 19. Achieve wave motion.
  • Forearm rotation At the elbow joint, the motor 18 drives the joint T-shaft 25 through the reducer 19 to realize the relative rotation of the outer tube 16-2 relative to the sixth connecting plate 9-6 to achieve the forearm rotation.
  • the trainer includes two inner square tubes 17 and an outer square tube 16 each having a plurality of equidistant holes, and the length is adjusted according to individual needs. In order to meet the rehabilitation training of patients.

Abstract

一种上肢神经康复训练器，包括用于康复姿态间的转换的手动调节部分I和用于康复训练的电动执行部分II。康复姿态包括：坐姿治疗、站姿治疗、卧姿治疗，通过手动调节训练器的高度，实现坐姿治疗和站姿治疗的转换，进一步的通过合页转换至卧姿治疗状态。康复训练的五个动作分别为：联动屈伸、摆臂、上臂旋动、摆手、前臂旋动，通过训练器可调式连杆设计，可根据不同用户进行长度调节。这种上肢神经康复训练器结构简单、价格相对廉价、功能较为齐全、能有效地减轻医护人员的劳动强度和减少其劳动时间、适用于家庭使用、支持多种身体姿态变换，能够更全面有效的实现患者的康复训练。

Description

一种上肢神经康复训练器 技术领域
本发明属于机械领域，涉及一种用于上肢运动功能障碍康复治疗的训练器。
 背景技术
脑卒中和脑外伤后，约有85%的患者会出现上肢功能障碍，这将对患者的生活造成极大的影响。而脑卒中是中老年人的高发病之一，因此对上肢神经康复治疗具有紧迫需求。现在市场上，康复器材多为进口产品，价格昂贵，治疗费用高。国内产品起步晚，康复动作单一，功能少。日常生活中，医疗康复器材的普及率很低，家用康复器材更是稀少。
 技术问题
本发明的目的就是针对由于脑卒中或者脑外伤导致神经受损以及相应的上肢运动功能障碍的一类患者，设计一种结构较为简单、价格相对廉价、功能较为齐全、能有效地减轻医护人员的劳动强度和减少其劳动时间、适用于家庭使用、支持多种身体姿态的大众化的上肢神经康复训练装置。
 技术解决方案
为了达到上述目的，本发明采用的技术方案为：
一种上肢神经康复训练器，包括两个部分：手动调节部分I、电动执行部分II，能够实现五个训练动作：联动屈伸、摆臂、上臂旋动、摆手、前臂旋动；实现三种康复姿态：坐姿治疗、站姿治疗、卧姿治疗。
所述的手动调节部分I包括脚轮1、底板2、铰链销3、固定杆4、把手5、第一滑动杆6-1、第二滑动杆6-2、控制柄7、氮气弹簧8、第一连接板9-1、第二连接板9-2、合页32、螺钉33。所述的四个脚轮1固定连接在底板2下侧面四角处，固定杆4底部通过四个螺钉固定连接在底板2上侧面，为中空结构。所述的固定杆4侧面设有三个等距孔，用于放置铰链销3，铰链销3根据位置需要选择放进某一孔内。所述的第一滑动杆6-1从固定杆4上方嵌入固定杆4内，把手5安装在第一滑动杆6-1上，第二滑动杆6-2从第一滑动杆6-1上方嵌入在第一滑动杆6-1内，控制柄7与氮气弹簧8固接在第二滑动杆6-2上部。所述的第一连接板9-1固定连接在氮气弹簧8上部，合页32两侧面分别与第一连接板9-1和第二连接板9-2固定连接；当合页10闭合时，通过螺钉33紧固连接第一连接板9-1侧面和第二连接板9-2；合页10张开时，通过螺钉33紧固连接第一连接板9-1底面和第二连接板9-2。
所述的电动执行部分II包括所述的电动执行部分II包括第三连接板9-3、第四连接板9-4、第五连接板9-5、第六连接板9-6、第七连接板9-7、步进电机10、电机支座11、弹性联轴器12、支座13、铰链14、电推杆15、外方管16、内方管17、电机18、减速器19、手背板20、滑块21、关节弹性联轴器22、带座轴承24、关节T型轴25、导向座26、绑带27、固定座28、丝杆29、滑轨座30、支撑座31、合页32、螺钉33。
所述的电推杆15一端通过铰链14安装在第二连接板9-2上，另一端通过铰链14与第七连接板9-7连接，第七连接板9-7安装在滑轨座30上。所述的步进电机10通过电机支座11安装在支座13上，支座13底部与固定座28连接，步进电机10主轴处与弹性联轴器12一端连接，弹性联轴器12另一端与丝杆29连接，丝杆29两端分别安装固定座28和支撑座31，固定座28和支撑座31固定在滑轨座30两端。所述的一个关节T型轴25底面安装在第二连接板9-2上，关节T型轴25嵌入在带座轴承24内部，带座轴承24安装在第三连接板9-3上，第三连接板9-3安装在滑轨座30上侧。关节T型轴25端部装有螺母23，并通过螺母23锁紧带座轴承24。第二连接板9-2与第三连接板9-3通过关节T型轴25与带座轴承24间接连接。
一组内方管17嵌入安装在外方管16内，一铰链14固定第三连接板9-3上，与外方管16的端部连接。另一铰链14固定在第四连接板9-4上，与内方管17端部连接。相应的，另一组内方管17嵌入安装在外方管16内，外方管16的端部与第四连接板9-4连接。内方管17端部通过铰链14安装在滑块21上。滑块21通过内部螺纹与丝杆29连接。所述的内方管17设有等距调节孔，用于调节外方管16和内方管17的相对位置。所述的第三个外方管16的一端安装关节T型轴25，关节T型轴25嵌入在带座轴承24内部。关节T型轴25端部装有螺母23，并通过螺母23锁紧带座轴承24。带座轴承24安装在第四连接板9-4上，外方管16另外一端与第五连接板9-5连接。
所述的第四连接板9-4上外侧安装一个减速器19，电机18安装在减速器19上，关节弹性联轴器22两侧分别安装减速器19输出轴与关节T型轴25。
所述的第五连接板9-5一端与外方管16连接，另一端外侧安装减速器19，电机18安装在减速器19上，关节弹性联轴器22两侧分别安装减速器19输出轴与关节T型轴25。关节T型轴25安装在第六连接板9-6一端，关节T型轴25嵌入在带座轴承24内部。关节T型轴25端部装有螺母23，并通过螺母23锁紧带座轴承24。此带座轴承24安装在第五连接板9-5上。第六连接板9-6另一端外侧安装减速器19，电机18安装在减速器19上，导向座26安装于减速器19输出轴端部，减速器19输出轴通过导向座26与手背板20连接。绑带27固定于手背板20上。
 有益效果
本发明的有益效果为：本发明结构简单、价格相对廉价、功能较为齐全、能有效地减轻医护人员的劳动强度和减少其劳动时间、适用于家庭使用、支持多种身体姿态变换。
 附图说明
图1为上肢神经康复训练器的示意图；
图2为手动调节部分结构示意图；
图3为电动执行部分结构示意图；
图4为关节驱动结构示意图；
图5为手部驱动结构示意图；
图6为滑轨结构示意图；
图7为姿态转换结构示意图；
图中：I手动调节部分；II电动执行部分；1脚轮；2底板；3铰链销；4固定杆；5把手；6-1第一滑动杆；6-2第二滑动杆；7控制柄；8氮气弹簧；9-1第一连接板；9-2第二连接板；9-3第三连接板；9-4第四连接板；9-5第五连接板；9-6第六连接板；9-7第七连接板；10步进电机；11电机支座；12弹性联轴器；13支座；14铰链；15电推杆；16外方管；17内方管；18电机；19减速器；20手背板；21滑块；22关节弹性联轴器；23螺母；24 带座轴承；25关节T型轴；26导向座；27绑带；28固定座；29丝杆；30滑轨座；31支撑座；32合页；33螺钉。
本发明的实施方式
以下结合附图和技术方案，进一步说明本发明的具体实施方式。
该装置可以实现三种康复姿态：坐姿治疗、站姿治疗、卧姿治疗。
该装置常用状态为坐姿状态，合页32闭合时，此时螺钉33将第一连接板侧面与第二连接板固定，拧紧螺钉33，此为坐姿状态。
当患者需要站姿治疗时，固定杆4上面设置有三个等距孔，通过铰链销3安装至孔不同位置，可以大范围调节第一滑动杆6-1的高度。通过把手5调节第二滑动杆6-2的高度，进一步的通过氮气弹簧8和控制柄7小范围调节执行器高度。通过三种调节以适合不同个体的站姿治疗。
当患者需要卧姿治疗时，取下螺钉33，合页32张开90°，重新将螺钉33拧紧至第一连接板底面上，此时电动执行部分旋转90°，转动至卧姿状态。
该装置可以实现五个训练动作：联动屈伸、摆臂、上臂旋动、摆手、前臂旋动。通过绑带将上侧外方管16与上臂绑定，下侧外方管16与下臂绑定，手背板20与手进行绑定，实现下面五个训练动作，具体为：
联动屈伸：通过步进电机10通过丝杆28带动滑块21上下移动，进一步的带动整体装置进行联动屈伸。
摆臂：通过电推杆15伸缩运动带动整体装置前后摆动，实现摆臂训练。
上臂旋动：肩关节处，电机18通过减速器19带动关节T型轴25实现外方管16与内方管17的相对旋转，实现上臂旋动。
摆手：手部，电机18通过减速器19带动手背板20旋转运动，实现摆手动作电机18通过减速器19带动关节T型轴25实现外方管16相对于第六连接板9-6相对旋转，实现摆手动作。
前臂旋动：肘关节处，电机18通过减速器19带动关节T型轴25实现外方管16-2相对于第六连接板9-6相对旋转，实现前臂旋动。
该训练器所包含的两个内方管17，外方管16均有多个等距孔，根据个性化需求，调节长度。以此满足患者康复训练。

Claims (1)

  1. 一种上肢神经康复训练器，其特征在于，所述的上肢神经康复训练器包括用于康复姿态间的转换的手动调节部分I和用于康复训练的电动执行部分II；能够实现五个训练动作：联动屈伸、摆臂、上臂旋动、摆手、前臂旋动，实现三种康复姿态：坐姿治疗、站姿治疗、卧姿治疗；
    所述的手动调节部分I包括脚轮(1)、底板(2)、铰链销(3)、固定杆(4)、把手(5)、第一滑动杆(6-1)、第二滑动杆(6-2)、控制柄(7)、氮气弹簧(8)、第一连接板(9-1)、第二连接板(9-2)、合页(32)；所述的脚轮(1)固定连接在底板(2)下部，固定杆(4)底部固接在底板(2)上侧面，为中空结构；所述的固定杆(4)侧面设有等距孔，用于放置铰链销(3)；所述的第一滑动杆(6-1)从固定杆(4)上方嵌入固定杆(4)内，把手(5)安装在第一滑动杆(6-1)上，第二滑动杆(6-2)从第一滑动杆(6-1)上方嵌入在第一滑动杆(6-1)内，控制柄(7)与氮气弹簧(8)安装在第二滑动杆(6-2)上部；所述的氮气弹簧(8)上部设有第一连接板(9-1)，合页(32)两侧面分别与第一连接板(9-1)和第二连接板(9-2)连接；
    所述的电动执行部分II包括第三连接板(9-3)、第四连接板(9-4)、第五连接板(9-5)、第六连接板(9-6)、第七连接板(9-7)、步进电机(10)、电机支座(11)、弹性联轴器(12)、支座(13)、铰链(14)、电推杆(15)、外方管(16)、内方管(17)、电机(18)、减速器(19)、手背板(20)、滑块(21)、关节弹性联轴器(22)、带座轴承(24)、关节T型轴(25)、导向座(26)、绑带(27)、固定座(28)、丝杆(29)、滑轨座(30)、支撑座(31)；
    所述的电推杆(15)一端与第二连接板(9-2)上的铰链(14)连接，另一端与第七连接板(9-7)上的铰链(14)连接，第七连接板(9-7)安装在滑轨座(30)上；所述的步进电机(10)通过电机支座(11)安装在支座(13)上，支座(13)底部与固定座(28)连接，步进电机(10)主轴通过弹性联轴器(12)与丝杆(29)连接，丝杆(29)两端安装在固定座(28)和支撑座(31)上，固定座(28)和支撑座(31)固定在滑轨座(30)两端；第二连接板(9-2)与第三连接板(9-3)通过关节T型轴(25)与带座轴承(24)间接连接；
    一组内方管(17)嵌入安装在第一外方管(16)内，第一外方管(16)的端部与第三连接板(9-3)上的铰链(14)连接，内方管(17)的端部与第四连接板(9-4)上的铰链(14)连接；相应的，另一组内方管(17)嵌入安装在第二外方管(16)内，第二外方管(16)的端部与第四连接板(9-4)连接，内方管(17)端部通过铰链(14)安装在滑块(21)上，滑块(21)与丝杆(29)连接；上述内方管(17)均设有等距调节孔，用于调节外方管(16)和内方管(17)的相对位置；
    第三外方管(16)的一端通过关节T型轴(25)嵌入带座轴承(24)内部，带座轴承(24)安装在第四连接板(9-4)上；第三外方管(16)另外一端与第五连接板(9-5)的一端连接；所述的第五连接板(9-5)另一端安装减速器(19)、电机(18)，关节弹性联轴器(22)两侧分别安装减速器(19)输出轴与关节T型轴(25)，该关节T型轴(25)安装在第六连接板(9-6)一端且嵌入第五连接板(9-5)上的带座轴承(24)内部；所述的第六连接板(9-6)另一端外侧安装减速器(19)、电机(18)，减速器(19)输出轴通过导向座(26)与手背板(20)连接，绑带(27)固定于手背板(20)上；
    所述的第四连接板(9-4)上外侧安装一个减速器(19)、电机(18)，关节弹性联轴器(22)两侧分别安装减速器(19)输出轴与关节T型轴(25)。
PCT/CN2019/094216 2018-08-23 2019-07-01 一种上肢神经康复训练器 WO2020038123A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020559501A JP2021512743A (ja) 2018-08-23 2019-07-01 上肢神経リハビリ訓練機器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810964777.8 2018-08-23
CN201810964777.8A CN109172263B (zh) 2018-08-23 2018-08-23 一种上肢神经康复训练器

Publications (1)

Publication Number Publication Date
WO2020038123A1 true WO2020038123A1 (zh) 2020-02-27

Family

ID=64919602

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/094216 WO2020038123A1 (zh) 2018-08-23 2019-07-01 一种上肢神经康复训练器

Country Status (3)

Country Link
JP (1) JP2021512743A (zh)
CN (1) CN109172263B (zh)
WO (1) WO2020038123A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114366568A (zh) * 2022-01-27 2022-04-19 广州柔机人养老产业有限公司 一种床基综合功能康复机器人

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109172263B (zh) * 2018-08-23 2019-08-20 大连理工大学 一种上肢神经康复训练器
CN110833496A (zh) * 2019-11-20 2020-02-25 吉林省申吉医疗器械科技有限公司 一种多关节联动的肢体康复装置
CN114886730A (zh) * 2022-05-06 2022-08-12 大连理工大学 一种视觉及力反馈型上肢康复机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102283761A (zh) * 2011-06-28 2011-12-21 上海电机学院 上肢康复机器人
JP2012035022A (ja) * 2010-08-04 2012-02-23 Er Tec:Kk 上肢運動機能訓練装置
CN104274298A (zh) * 2014-06-05 2015-01-14 长春工业大学 上下肢主被动康复训练器
CN104287944A (zh) * 2014-10-22 2015-01-21 河北工业大学 一种上肢康复机器人
CN104490565A (zh) * 2014-12-26 2015-04-08 上海交通大学 七自由度外骨骼式上肢康复机器人
US9694228B2 (en) * 2013-03-18 2017-07-04 Mats Thulin Training machine for strength training and rehabilitation
CN106924013A (zh) * 2017-04-15 2017-07-07 上海卓道医疗科技有限公司 一种外骨骼式上肢康复训练机器人
CN109172263A (zh) * 2018-08-23 2019-01-11 大连理工大学 一种上肢神经康复训练器

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103142381B (zh) * 2013-03-08 2015-01-21 大连理工大学 一种训练腕关节旋转的康复仪
CN105919777B (zh) * 2016-06-14 2017-10-13 合肥工业大学 一种可嫁接上肢康复训练机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012035022A (ja) * 2010-08-04 2012-02-23 Er Tec:Kk 上肢運動機能訓練装置
CN102283761A (zh) * 2011-06-28 2011-12-21 上海电机学院 上肢康复机器人
US9694228B2 (en) * 2013-03-18 2017-07-04 Mats Thulin Training machine for strength training and rehabilitation
CN104274298A (zh) * 2014-06-05 2015-01-14 长春工业大学 上下肢主被动康复训练器
CN104287944A (zh) * 2014-10-22 2015-01-21 河北工业大学 一种上肢康复机器人
CN104490565A (zh) * 2014-12-26 2015-04-08 上海交通大学 七自由度外骨骼式上肢康复机器人
CN106924013A (zh) * 2017-04-15 2017-07-07 上海卓道医疗科技有限公司 一种外骨骼式上肢康复训练机器人
CN109172263A (zh) * 2018-08-23 2019-01-11 大连理工大学 一种上肢神经康复训练器

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114366568A (zh) * 2022-01-27 2022-04-19 广州柔机人养老产业有限公司 一种床基综合功能康复机器人
CN114366568B (zh) * 2022-01-27 2023-11-14 广州柔机人养老产业有限公司 一种床基综合功能康复机器人

Also Published As

Publication number Publication date
CN109172263B (zh) 2019-08-20
CN109172263A (zh) 2019-01-11
JP2021512743A (ja) 2021-05-20

Similar Documents

Publication Publication Date Title
WO2020038123A1 (zh) 一种上肢神经康复训练器
US10722416B2 (en) Multi-posture lower limb rehabilitation robot
AU2010298373B2 (en) Rehabilitative training devices for use by stroke patients
CN109009875A (zh) 个性化上肢康复训练机器人
CN108938322B (zh) 一种上肢康复器
CN111956447B (zh) 一种动静态结合的上肢康复支具
CN111408106B (zh) 一种骨伤科康复用辅助装置
CN107874977A (zh) 一种上肢康复装置中的支撑手柄
CN210644522U (zh) 一种实用型手部功能障碍者康复训练用外骨骼机械手
CN209301637U (zh) 个性化上肢康复训练机器人
CN208301849U (zh) 一种外骨骼式康复机械手指
CN107440881B (zh) 上肢关节多方位训练装置
CN105435421A (zh) 两级床体、多角度调节、上下肢协同训练康复机器人
CN211132859U (zh) 床用下肢康复训练设备
CN109288616B (zh) 一种外骨骼上肢康复机器人
CN110302503B (zh) 一种医院理疗康复用肘关节运动器
CN208552406U (zh) 一种偏瘫人群躯干肌肉群及上肢舒展拉伸康复设备
CN109620634A (zh) 一种四指同步运动的手指康复训练器
CN115281999A (zh) 一种腿部关节锻炼康复护理装置
CN105477831B (zh) 两级床体多角度调节康复机器人
CN115607375A (zh) 一种妇产科用肢体辅助支撑装置
CN201208376Y (zh) 智能主被动训练器
CN216824079U (zh) 腿部康复结构
CN107773388B (zh) 上肢协调康复训练装置的调节机构
CN208641651U (zh) 一种上下肢康复训练装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19851503

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2020559501

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19851503

Country of ref document: EP

Kind code of ref document: A1